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Get the open source Bullet library more in sync with Playstation SPU version

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This commit is contained in:
ejcoumans
2007-04-10 01:02:58 +00:00
parent 9546633ade
commit 853bafb7ae
25 changed files with 272 additions and 130 deletions
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20
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
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@@ -18,8 +18,7 @@ subject to the following restrictions:
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btIDebugDraw.h"
//Note: currently we have 16 bytes per quantized node
static const int MAX_SUBTREE_SIZE_IN_BYTES = 16384;
btOptimizedBvh::btOptimizedBvh() : m_useQuantization(false),
m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
@@ -178,12 +177,14 @@ void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface)
PHY_ScalarType indicestype;
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart);
btVector3 triangleVerts[3];
btVector3 aabbMin,aabbMax;
const btVector3& meshScaling = meshInterface->getScaling();
int numNodes = m_curNodeIndex;
int i;
for (i=numNodes-1;i>=0;i--)
{
btVector3 triangleVerts[3];
btQuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
if (curNode.isLeafNode())
@@ -194,7 +195,7 @@ void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface)
int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
const btVector3& meshScaling = meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
@@ -208,7 +209,7 @@ void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface)
}
btVector3 aabbMin,aabbMax;
aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMin.setMin(triangleVerts[0]);
@@ -220,9 +221,7 @@ void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface)
quantizeWithClamp(&curNode.m_quantizedAabbMin[0],aabbMin);
quantizeWithClamp(&curNode.m_quantizedAabbMax[0],aabbMax);
int k;
k=0;
} else
{
//combine aabb from both children
@@ -231,8 +230,7 @@ void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface)
btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i+2] :
&m_quantizedContiguousNodes[i+1+leftChildNode->getEscapeIndex()];
int k;
k=0;
{
for (int i=0;i<3;i++)